FourSwedishWheelOmniBaseKinematic.hpp

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#ifndef YOUBOT_FOURSWEDISHWHEELOMNIBASEKINEMATIC_H
#define YOUBOT_FOURSWEDISHWHEELOMNIBASEKINEMATIC_H

/****************************************************************
 *
 * Copyright (c) 2011
 * All rights reserved.
 *
 * Hochschule Bonn-Rhein-Sieg
 * University of Applied Sciences
 * Computer Science Department
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * Author:
 * Jan Paulus, Nico Hochgeschwender, Michael Reckhaus, Azamat Shakhimardanov
 * Supervised by:
 * Gerhard K. Kraetzschmar
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 *
 * This sofware is published under a dual-license: GNU Lesser General Public 
 * License LGPL 2.1 and BSD license. The dual-license implies that users of this
 * code may choose which terms they prefer.
 *
 * +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
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 *     * Neither the name of the Hochschule Bonn-Rhein-Sieg nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License LGPL as
 * published by the Free Software Foundation, either version 2.1 of the
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#include <vector>
#include <string>
#include "generic/Logger.hpp"
#include "generic/Units.hpp"
#include "generic/Exceptions.hpp"
#include "base-kinematic/WheeledBaseKinematic.hpp" 
#include "base-kinematic/FourSwedishWheelOmniBaseKinematicConfiguration.hpp"
namespace youbot {

///////////////////////////////////////////////////////////////////////////////
/// Implementation of a base kinematic with four swedish wheels. The youBot base kinematic.
///////////////////////////////////////////////////////////////////////////////
class FourSwedishWheelOmniBaseKinematic : public WheeledBaseKinematic {
  public:
    FourSwedishWheelOmniBaseKinematic();

    virtual ~FourSwedishWheelOmniBaseKinematic();

    ///Calculates from the cartesian velocity the individual wheel velocities 
    ///@param longitudinalVelocity is the forward or backward velocity
    ///@param transversalVelocity is the sideway velocity
    ///@param angularVelocity is the rotational velocity around the center of the YouBot
    ///@param wheelVelocities are the individual wheel velocities
    virtual void cartesianVelocityToWheelVelocities(const quantity<si::velocity>& longitudinalVelocity, const quantity<si::velocity>& transversalVelocity, const quantity<si::angular_velocity>& angularVelocity, std::vector<quantity<angular_velocity> >& wheelVelocities);

    ///Calculates from the wheel velocities the cartesian velocity
    ///@param wheelVelocities are the velocities of the individual wheels
    ///@param longitudinalVelocity is the forward or backward velocity
    ///@param transversalVelocity is the sideway velocity
    ///@param angularVelocity is the rotational velocity around the center of the YouBot
    virtual void wheelVelocitiesToCartesianVelocity(const std::vector<quantity<angular_velocity> >& wheelVelocities, quantity<si::velocity>& longitudinalVelocity, quantity<si::velocity>& transversalVelocity, quantity<angular_velocity>& angularVelocity);

    ///Calculates from the wheel positions the cartesian position
    ///@param wheelPositions are the individual positions of the wheels
    ///@param longitudinalPosition is the forward or backward position
    ///@param transversalPosition is the sideway position
    ///@param orientation is the rotation around the center
    virtual void wheelPositionsToCartesianPosition(const std::vector<quantity<plane_angle> >& wheelPositions, quantity<si::length>& longitudinalPosition, quantity<si::length>& transversalPosition, quantity<plane_angle>& orientation);

    ///Calculates from the cartesian position the wheel positions
    ///@param longitudinalPosition is the forward or backward position
    ///@param transversalPosition is the sideway position
    ///@param orientation is the rotation around the center
    ///@param wheelPositions are the individual positions of the wheels
    virtual void cartesianPositionToWheelPositions(const quantity<si::length>& longitudinalPosition, const quantity<si::length>& transversalPosition, const quantity<plane_angle>& orientation, std::vector<quantity<plane_angle> >& wheelPositions);

    void setConfiguration(const FourSwedishWheelOmniBaseKinematicConfiguration& configuration);

    void getConfiguration(FourSwedishWheelOmniBaseKinematicConfiguration& configuration) const;


  private:
    FourSwedishWheelOmniBaseKinematicConfiguration config;

    std::vector<quantity<plane_angle> > lastWheelPositions;

    bool lastWheelPositionInitialized;

    quantity<si::length> longitudinalPos;

    quantity<si::length> transversalPos;

    quantity<plane_angle> angle;

};

} // namespace youbot
#endif